CN105425246A - Method for ship-borne integrated measurement system precision calibration in water pool - Google Patents

Abstract

The invention discloses a method for ship-borne integrated measurement system precision calibration in a water pool, and belongs to the technical field of marine surveying and mapping. The method is implemented on the basis of acquiring the overall coarse calibration parameters of a ship-borne multi-sensor measurement system and the precision calibration parameters of a laser scanner. On the basis that precision-calibrated laser scanner measured data can be used as accurate spatial point cloud data of a target object, multi-beam measured data and laser scanner measured data are compared. By taking the offset and rotation angle of a multi-beam depth finder coordinate system relative to an inertial navigation system coordinate system obtained through coarse calibration as initial values, the accurate corrected values of the offset and rotation angle of the multi-beam depth finder coordinate system relative to the inertial navigation system coordinate system are obtained. Thus, overall measurement system calibration is realized. According to the invention, the laser scanner and the multi-beam depth finder are integrated, the submarine topography and coastal water terrain data can be acquired at the same time, and overall precision calibration of the ship-borne multi-sensor measurement system in a water pool is realized.

Description

A kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond

Technical field

The present invention relates to marine charting technical field, be specifically related to a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond.

Background technology

Laser scanning system can more than the quick obtaining water surface a large amount of cloud data, multibeam echosounder can quick obtaining seabed large area submarine terrain, " the boat-carrying underwater integrated measuring system waterborne " of integrated laser scanner and multibeam echosounder can obtain submarine topography and offshore terrain data waterborne simultaneously, solves offshore coastal zone and beach topographical surveying problem.The overall calibration of " boat-carrying underwater integrated measuring system waterborne " is the importance ensureing measuring accuracy.The rare report of overall calibration method both at home and abroad to Integrated Measurement System, is therefore necessary to carry out studying and implementing, to ensure integrated test accuracy of measurement for " boat-carrying underwater integrated measuring system waterborne " overall calibration method.

Summary of the invention

For the above-mentioned technical matters existed in prior art, the present invention proposes a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond, reasonable in design, improve the accuracy of measurement data, there is good effect.

To achieve these goals, the present invention adopts following technical scheme:

A kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond, adopt boat-carrying water water front integrated measuring system, its offshore above water comprises laser scanner and inertial navigation system, underwater portion comprises multibeam echosounder, and above water and underwater portion are connected by a platform support; Laser scanner is wherein for measuring offshore terrain data waterborne, multibeam echosounder is for measuring underwater topography data, and inertial navigation system is used for providing locating information, temporal information, attitude information and course information for laser scanner and multibeam echosounder;

The described boat-carrying integrated measuring system precise calibration method of carrying out in pond, carry out in accordance with the following steps:

Step 1: build pond, in pond, build focus target wall and build the gore equidistantly distributed successively in the both sides of focus target wall, first gore of the gore that first gore of the gore that the wherein side of focus target wall equidistantly distributes equidistantly distributes lower than opposite side, gore focus target wall and both sides equidistantly distributed is as calibration object; And set up ENU coordinate system;

Step 2: simultaneously carry out information acquisition by laser scanner and multibeam echosounder, obtains waterborne, underwater survey point data for calibration object, extracts the measurement point information of side, pond focus target wall and both sides gore respectively;

Step 3: calculate multibeam echosounder coordinate system relative to the angular deflection correction of inertial navigation system coordinate system in rolling, pitching and yawing direction;

Step 4: completing on above step basis, be as the criterion with the data of laser scanner measurement, according to focus target wall and both sides gore known dimensions, obtains the modified value of multibeam echosounder coordinate system relative to inertial navigation system coordinate system side-play amount.

Preferably, in step 3, specifically comprise

Step 3.1: carry out entirety to boat-carrying integrated measuring system and slightly demarcate, obtains laser scanner coordinate system and multibeam echosounder coordinate system relative to the side-play amount of inertial navigation system coordinate system and rotation angle;

Step 3.2: carry out smart calibration to laser scanner, obtains the smart calibration parameter of laser scanner;

Step 3.3: based on the smart calibration parameter of the laser scanner obtained, using the multibeam echosounder coordinate system slightly demarcating acquisition relative to the side-play amount of inertial navigation system coordinate system and rotation angle as initial value, utilize calibration object to keep size consistent with orientation on the water under water, choose the plane that the measurement point data obtained respectively by multibeam echosounder and laser scanner carry out matching;

Surveying vessel is identified through three perpendiculars can measuring acquisition: P1, P2, P3.Corresponding above water laser scanner measurement data acquisition plane is P _l1, P _l2, P _l3; Corresponding underwater portion multibeam echosounder measure data fitting plane is P _m1, P _m2, P _m3.In addition, for carrying out deflection angle calculating to pitching direction, definition plane P 4, corresponding above water laser scanner measurement data acquisition plane is P _l4, this plane is simultaneously perpendicular to plane P _l1with plane P _l2; Corresponding underwater portion multibeam echosounder measure data fitting plane is P _m4, this plane is simultaneously perpendicular to plane P _m1with plane P _m2.

Wherein the plane equation of corresponding flat is:

P _Li:a _Lix+b _Liy+c _Liz＝d _Li

P _Mi:a _Mix+b _Miy+c _Miz＝d _Mi

Wherein, i=1,2,3,4.

P _l2and P _m2for calculating multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in rolling direction; P _l3and P _m3for calculating multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in yawing direction; By laser scanner aspect simultaneously perpendicular to P _l1with P _l2plane P _l4with multibeam echosounder aspect simultaneously perpendicular to P _m1with P _m2plane P _m4calculate multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in pitching direction.

Step 3.4: be as the criterion with the plane of the measurement point data fitting obtained by laser scanner, compare with the plane of multibeam echosounder measure data fitting;

Step 3.5: under the ENU coordinate system set up in step 1, the plane of the measurement point data fitting that the plane calculating the measurement point data fitting obtained by multibeam echosounder is obtained with respect to laser scanner at the deflection angle in rolling, pitching and yawing direction, and determines the positive negative direction of deflection angle;

Make near object and along the navigation of object central plane horizontal direction on the left of object on the right side of ship, when ship is navigated by water, the coordinate axis of inertial navigation system is to axially consistent with ENU coordinate system.The normal vector that the normal vector of plane only chooses head for target beyond the region of objective existence side compares, the included angle cosine value of now carrying out between computing method vector be all on the occasion of.

Rolling direction deflection corner dimension and direction are determined:

First Calculation Plane P _l2and plane P _m2the angle of normal vector, then gets plane P _l2and plane P _m2normal vector respectively with vector (0,0,1) ask included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, definition multibeam echosounder relative to laser scanner roll angle deviation δ _γfor on the occasion of; Otherwise, if the cosine value required by multibeam echosounder is greater than cosine value required by laser scanner, then define multibeam echosounder relative to laser scanner roll angle deviation δ _γfor negative value.

Yawing direction deflection angle size and direction are determined:

First Calculation Plane P _l3and plane P _m3the angle of normal vector, then gets plane P _l3and plane P _m3normal vector respectively with P _l2the normal vector of plane asks included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, definition multibeam echosounder is relative to laser scanner yawing angular deviation for negative value; Otherwise, if cosine value required by multibeam echosounder is greater than cosine value required by laser scanner, then define multibeam echosounder relative to laser scanner yawing angle for on the occasion of.

Pitching direction deflection angle size and direction are determined:

First Calculation Plane P _l3and plane P _m3the angle of normal vector, then gets plane P _m4normal vector and plane P _l4normal vector respectively with P _l1normal vector asks included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, definition multibeam echosounder plane is relative to laser scanner plane pitching deflection angle δ _θfor on the occasion of; Otherwise if the cosine value required by multibeam echosounder is greater than cosine value required by laser scanner, definition multibeam echosounder plane is relative to laser scanner plane pitching deflection angle δ _θfor negative value.

Step 3.6: three orientation angle deflection corrections of acquisition be respectively the angular deflection correction of multibeam echosounder coordinate system relative to the rolling under inertial navigation system coordinate system, pitching and yawing, unit is radian.

When considering little angle, the approximate rotation matrix for angle modification amount is

Utilize above rotation matrix to revise multi-beam raw data, by measurement data again reduction under ECEF coordinate system, Reducing Caculus is:

$\left[\begin{array}{c}{X}_e\\ Y_e\\ Z_e\end{array}\right]={\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{oe}+R_l^e\·R_b^l\·\[(I+{\mathrm{\Ω}}_{b*}^b)\·R_m^{b*}\·{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_m+{\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\end{array}\right]}_b+{\left[\begin{array}{c}{\mathrm{\Δl}}_x\\ {\mathrm{\Δl}}_y\\ {\mathrm{\Δl}}_z\end{array}\right]}_b\]$

Wherein: [X _ey _ez _e] be coordinate under ECEF coordinate system; [XYZ] _oefor inertial navigation system center coordinate under ECEF coordinate system; for local horizontal coordinates is to the rotation matrix of ECEF coordinate system, local horizontal coordinate is that when measuring, position, inertial navigation system center is the local horizontal coordinates that initial point is set up herein; for inertial navigation system coordinate system is to the rotation matrix of local horizontal coordinates, local horizontal coordinate is that when measuring, position, inertial navigation system center is the local horizontal coordinates that initial point is set up herein; for slightly demarcating the initial rotation vector of rear multibeam echosounder coordinate system relative to inertial navigation system coordinate system; what obtain for calibration demarcates the correction matrix of rear multibeam echosounder coordinate system relative to the angular deflection of inertial navigation system coordinate system to thick, and I is unit battle array; [XYZ] _mfor the measurement point coordinate under multibeam echosounder coordinate system; [l _xl _yl _z] _bfor slightly demarcating the initial offset at relative inertness navigational system center, rear multibeam echosounder coordinate system center; [Δ l _xΔ l _yΔ l _z] _bfor multibeam echosounder coordinate system center is relative to the correction of inertial navigation system coordinate system center offset, current correction of not carrying out side-play amount calculates, and therefore current procedures can be set to zero.

Again coordinate under converted measurement point coordinate to the ENU coordinate system set up for initial point with buildings central point, solve the correction of multibeam echosounder coordinate system relative to the rolling of inertial navigation system coordinate system, pitching and yawing three orientation angles deflections, correct in previous angular deflection correction, this process of iteration is until finishing iteration when the normal vector of multi-beam measurement plane and the normal vector angle of laser scanner measurement plane are less than certain threshold values, and this threshold values is determined by actual conditions.The multibeam echosounder coordinate system that whole iterative process obtains is final angle calibration result relative to the correction of the rolling of inertial navigation system coordinate system, pitching and yawing three direction rotation amounts.

Preferably, in step 4, comprise

Step 4.1: after above calibration angle modification is carried out to multi-beam measurement data, for the focus target wall of calibration object, choose measurement point data in upper and lower two planes of the water surface that obtained by laser scanner and multibeam echosounder respectively, and ask for measurement point data in upper and lower two planes of the water surface respectively at the coordinate figure of the X-direction of ENU coordinate system and average, measurement point data then in upper and lower two planes of the water surface are multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the X-direction of ENU coordinate system in the difference of the mean value of X-direction,

Step 4.2: for the both sides gore in calibration object, there is a vertical plane angled with central wall plane, also there are upper and lower two surface levels perpendicular to central wall plane, laser scanner and multi-beam can measure surface level that is waterborne and gore under water respectively, choose measurement point data in upper and lower two surface levels of the water surface that obtained by laser scanner and multibeam echosounder respectively, and ask for measurement point data in upper and lower two planes of the water surface respectively at the coordinate figure of the Z-direction of ENU coordinate system and average, namely the actual distance value of upper and lower two surface levels of the water surface in the Z-direction of ENU coordinate system is obtained, gore waterborne is obtained poor with the level of gore under water according to design size, and using the distance true value of this difference in height as the Z-direction of ENU coordinate system, by poor for the distance Truth of the actual distance value of two plane surveyings and acquisition, namely obtain multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the Z-direction of ENU coordinate system,

Step 4.3: get laser scanner data matching P _l1plane and multi-beam Bathymetric Data matching P _m1plane, two straight lines in XOY plane are obtained after they being projected to bottom surface, utilize data that the straight line being parallel to the Y-axis of ENU coordinate system is measured in bottom surface projection straight line and multibeam echosounder with the data of laser scanner measurement respectively at bottom surface projection straight line find intersection, two intersection points are multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the Y direction of ENU coordinate system in the deviation of the Y direction of ENU coordinate system;

Step 4.4: the data measured of the multibeam echosounder of acquisition are the modified value of multibeam echosounder coordinate system relative to inertial navigation system coordinate system side-play amount relative to the data of laser scanner measurement in the side-play amount in the X-axis of ENU coordinate system, Y-axis, Z axis three directions.

The Advantageous Effects that the present invention brings:

The present invention proposes a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond, compared with prior art, a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond, be integrated with laser scanner and multibeam echosounder, submarine topography and offshore terrain data waterborne can be obtained simultaneously, solve offshore coastal zone and beach topographical surveying problem; The side-play amount that the calibration of laser scanner essence obtains and the anglec of rotation have degree of precision; be as the criterion with the data of laser scanner measurement after smart calibration; ask for multibeam echosounder coordinate system relative to the accurate angular deflection of inertial navigation system coordinate system and ranging offset modified value; achieve the overall close adjustment of boat-carrying underwater integrated measuring system waterborne, integrated measuring is carried out to fixed target calibration thing.

The present invention is mainly applicable to the region that pond or harbour etc. have fixed target calibration thing.

Accompanying drawing explanation

Fig. 1 is the 3 d effect graph of calibration object in a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond of the present invention.

Fig. 2 is the forward sight design sketch of calibration object in a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond of the present invention.

Fig. 3 be in a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond of the present invention calibration object overlook design sketch.

Fig. 4 is the local horizontal coordinates schematic diagram defined on calibration object in a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond of the present invention.

Fig. 5 is the FB(flow block) of a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond of the present invention.

Embodiment

First the theoretical foundation wanted required for the present invention is introduced:

1. plane fitting is theoretical

Plane formula:

ax+by+cz-d＝0

Solution procedure is as follows:

1) n analyzing spot (x of matching is treated _i, y _i, z _i), the plane equation of matching is:

ax+by+cz＝d

Condition is:

a ²+b ²+c ²＝1

Then arbitrary data point is to the distance of plane:

d _i＝|ax _i+by _i+cz _i-d|

2) to best-fitting plane be obtained, make obtain minimum value, condition is a ²+ b ²+ c ²=1, obtain formula

$f=\underset{i=1}{\overset{n}{\Σ}}{d}_i^2-\mathrm{\λ}(a^2+b^2+c^2-1)$

3) by f respectively to four unknown parameter d, a, b, c ask local derviation:

Local derviation is asked to obtain to d:

$\frac{\∂f}{\∂d}=-2\underset{i=1}{\overset{n}{\Σ}}({\mathrm{ax}}_i+{\mathrm{by}}_i+{\mathrm{cz}}_i-d)=0$

Obtain first parameter:

$d=a\frac{{\Σ}_{i=1}^n{x}_i}{n}+b\frac{{\Σ}_{i=1}^n{y}_i}{n}+c\frac{{\Σ}_{i=1}^n{z}_i}{n}$

Then arbitrary data point is to the distance of plane:

$\begin{array}{c}{d}_i=\left|{\mathrm{ax}}_i+{\mathrm{by}}_i+{\mathrm{cz}}_i-d\right|\\ =|a(x_i-\frac{{\Σ}_{i=1}^n{x}_i}{n})+b(y_i-\frac{{\Σ}_{i=1}^n{y}_i}{n})+c(z_i-\frac{{\Σ}_{i=1}^n{z}_i}{n})|\end{array}$

Order: $\stackrel{\‾}{x}=\frac{{\Σ}_{i=1}^n{x}_i}{n},\stackrel{\‾}{y}=\frac{{\Σ}_{i=1}^n{y}_i}{n},\stackrel{\‾}{z}=\frac{{\Σ}_{i=1}^n{z}_i}{n}$

Then $d_i=|a(x_i-\stackrel{\‾}{x})+b(y_i-\stackrel{\‾}{y})+c(z_i-\stackrel{\‾}{z})|$

Order: $(x_i-\stackrel{\‾}{x})={\mathrm{\Δx}}_i,(y_i-\stackrel{\‾}{y})={\mathrm{\Δy}}_i,(z_i-\stackrel{\‾}{z})={\mathrm{\Δz}}_i$

4) to a, b, c respectively differentiate obtain:

$\frac{\∂f}{\∂a}=2\underset{i=1}{\overset{n}{\Σ}}({\mathrm{a\Δx}}_i+{\mathrm{b\Δy}}_i+{\mathrm{c\Δz}}_i){\mathrm{\Δx}}_i-2\mathrm{\λ}a=0$

$\frac{\∂f}{\∂b}=2\underset{i=1}{\overset{n}{\Σ}}({\mathrm{a\Δx}}_i+{\mathrm{b\Δy}}_i+{\mathrm{c\Δz}}_i){\mathrm{\Δy}}_i-2\mathrm{\λ}b=0$

$\frac{\∂f}{\∂c}=2\underset{i=1}{\overset{n}{\Σ}}({\mathrm{a\Δx}}_i+{\mathrm{b\Δy}}_i+{\mathrm{c\Δz}}_i){\mathrm{\Δz}}_i-2\mathrm{\λ}c=0$

After arrangement:

$\left(\begin{array}{ccc}\Σ{\mathrm{\Δx}}_i{\mathrm{\Δx}}_i& \Σ{\mathrm{\Δx}}_i{\mathrm{\Δy}}_i& \Σ{\mathrm{\Δx}}_i{\mathrm{\Δz}}_i\\ \Σ{\mathrm{\Δx}}_i{\mathrm{\Δy}}_i& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δy}}_{\stackrel{\·}{i}}& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δz}}_i\\ \Σ{\mathrm{\Δx}}_i{\mathrm{\Δz}}_i& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δz}}_i& \Σ{\mathrm{\Δz}}_i{\mathrm{\Δz}}_i\end{array}\right)\left(\begin{array}{c}a\\ b\\ c\end{array}\right)=\mathrm{\λ}\left(\begin{array}{c}a\\ b\\ c\end{array}\right)$

Order

$\left(\begin{array}{ccc}\Σ{\mathrm{\Δx}}_i{\mathrm{\Δx}}_i& \Σ{\mathrm{\Δx}}_i{\mathrm{\Δy}}_i& \Σ{\mathrm{\Δx}}_i{\mathrm{\Δz}}_i\\ \Σ{\mathrm{\Δx}}_i{\mathrm{\Δy}}_i& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δy}}_{\stackrel{\·}{i}}& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δz}}_i\\ \Σ{\mathrm{\Δx}}_i{\mathrm{\Δz}}_i& \Σ{\mathrm{\Δy}}_i{\mathrm{\Δz}}_i& \Σ{\mathrm{\Δz}}_i{\mathrm{\Δz}}_i\end{array}\right)=A$

$\left(\begin{array}{c}a\\ b\\ c\end{array}\right)=x$

Then above formula is expressed as:

Ax＝λx

By Ax=λ x, (x, x)=a ²+ b ²+ c ²=1

Then (Ax, x)=(λ x, x), λ=(Ax, x)

Namely $\mathrm{\λ}={\Σ}_{i=1}^n{({\mathrm{a\Δx}}_i+{\mathrm{b\Δy}}_i+{\mathrm{c\Δz}}_i)}^2$

? $\mathrm{\λ}={\Σ}_{i=1}^n{d}_i^2$

5) ask proper vector and eigenwert namely to obtain the normal vector (a, b, c) of fit Plane, and then obtain d.

2. ask the angle of two straight lines

Calculate two vector angles

For vector and vector

$\begin{array}{c}\cos <\stackrel{\&RightArrow;}{a},\stackrel{\&RightArrow;}{b}>=\frac{\stackrel{\&RightArrow;}{a}\&CenterDot;\stackrel{\&RightArrow;}{b}}{\left|\stackrel{\&RightArrow;}{a}\right|\&CenterDot;\left|\stackrel{\&RightArrow;}{b}\right|}\\ =\frac{a_1{b}_1+a_2{b}_2+a_3{b}_3}{\sqrt{a_1^2+a_2^2+a_3^2}\&CenterDot;\sqrt{b_1^2+b_2^2+b_3^2}}\end{array}$

Wherein: $\stackrel{\&RightArrow;}{a}=(a_1,a_2,a_3),\stackrel{\&RightArrow;}{b}=(b_1,b_2,b_3).$

Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:

As shown in Figure 1-2, design calibration object focus target wall is long is a, and wide is b; Both sides gore minor face length is all c, is highly e; Adjacent triangle interblock is divided into e (above design size is adjustable according to actual conditions).

A kind of boat-carrying integrated measuring system precise calibration method (as shown in Figure 5) of carrying out in pond, the method adopts R2sonic2024 multibeam echosounder, RIEGLVZ1000 laser scanner, SPAN-LCI combines inertial navigation system system, carries out in accordance with the following steps:

Step 1: build pond, in pond, build focus target wall and build the gore equidistantly distributed successively in the both sides of focus target wall, first gore of the gore that first gore of the gore that the wherein side of focus target wall equidistantly distributes equidistantly distributes lower than opposite side, gore focus target wall and both sides equidistantly distributed is as calibration object;

Step 2: travel surveying vessel, be as the criterion to be positioned on the right side of surveying vessel on the left of object, and make surveying vessel direct of travel as far as possible parallel in the horizontal direction with calibration object central plane, when ship is navigated by water, the coordinate axis of inertial navigation system is to axially consistent with ENU coordinate system.

ENU coordinate system (topocentric coordinate system or local horizontal coordinates) defines: with the heart of standing for coordinate origin O, Z axis overlaps with ellipsoid normal, just (sky to) be upwards, y-axis and initial point place warp tangent, just (north orientation) be northwards, x-axis and initial point place parallel tangent, be eastwards right hand rectangular coordinate system in space that just (east orientation) is formed.

Set up ENU coordinate system (as shown in Figure 4), ENU coordinate origin is based upon the center of calibration object, the Z-direction of ENU coordinate system is consistent with the vertical direction of calibration object, the Y direction of ENU coordinate system is consistent with the horizontal direction of focus target wall plane, and the north is to being Y-axis forward; The X-axis forward of ENU coordinate system is consistent with the direction of calibration object central plane vertical-right; The vertical plane exact vertical local level of calibration object, carry out information acquisition by laser scanner and multibeam echosounder simultaneously, obtain waterborne, underwater survey point data for calibration object, extract the measurement point information of the upper target centroid wall of pond one side walls and both sides gore respectively;

Step 3: calculate the accurate correction of multibeam echosounder coordinate system relative to inertial navigation system coordinate system deflection angle, first based on the smart calibration parameter obtaining the overall thick calibrating parameters of boat-carrying multi-sensor measurement system and laser scanner, laser scanner measurement data after essence calibration can be used as the exact space cloud data of target object, initial value is made relative to the side-play amount of inertial navigation system coordinate system and rotation angle on this basis with the multibeam echosounder coordinate system slightly demarcating acquisition, calibration object is utilized to keep size consistent with orientation on the water under water, matching above water calibration object measurement plane is carried out by laser scanner measurement data, and be as the criterion with the plane of this matching and compare with multi-beam measure data fitting plane, under the ENU coordinate system set up in step 2, ask for multi-beam Bathymetric Data fit Plane respectively relative to laser scanner data fit Plane in rolling, the angular deflection amount in pitching and yawing direction,

In step 3, specifically comprise

Step 3.1: the plane choosing required multi-beam and laser scanner measurement data fitting

Fig. 3 is the vertical view of calibration object, identifies: P1, P2, P3 in figure to surveying vessel through three perpendiculars can measuring acquisition.Corresponding above water laser scanner measurement data acquisition plane is P _l1, P _l2, P _l3; It is P that corresponding underwater portion multi-beam measures fit Plane _m1, P _m2, P _m3.In addition, for carrying out deflection angle calculating to pitching direction, definition plane P 4 (as shown in Figure 3), corresponding above water laser scanner measurement data acquisition plane is P _l4, this plane is simultaneously perpendicular to plane P _l1with plane P _l2; It is P that corresponding underwater portion multi-beam measures fit Plane _m4, this plane is simultaneously perpendicular to plane P _m1with plane P _m2.

Wherein the plane equation of corresponding flat is:

P _Li:a _Lix+b _Liy+c _Liz＝d _Li

P _Mi:a _Mix+b _Miy+c _Miz＝d _Mi

Wherein, i=1,2,3,4.

P _l2and P _m2for calculating multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in rolling direction; P _l3and P _m3for calculating multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in yawing direction; By laser scanner aspect simultaneously perpendicular to P _l1with P _l2plane P _l4with multibeam echosounder aspect simultaneously perpendicular to P _m1with P _m2plane P _m4calculate multibeam echosounder coordinate system relative to the angular deflection amount of inertial navigation system coordinate system in pitching direction.

Step 3.2: calculate multi-beam Bathymetric Data fit Plane relative to the deflection angle of laser scanner data fit Plane in rolling, pitching and yawing direction, and determine the positive negative direction of deflection angle

To make on the right side of ship near object and along the navigation of object central plane horizontal direction on the left of object, the normal vector that the normal vector of plane only chooses head for target beyond the region of objective existence side compares, the included angle cosine value of now carrying out between computing method vector be all on the occasion of.

Rolling direction deflection corner dimension and direction are determined:

First Calculation Plane P _l2and plane P _m2the angle of normal vector.Then plane P is got _l2and plane P _m2normal vector respectively with vector (0,0,1) ask included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, be defined as multibeam echosounder relative to laser scanner roll angle deviation δ _γfor negative value.Otherwise, if be greater than cosine value required by laser scanner, illustrate that multibeam echosounder is relative to laser scanner roll angle deviation δ _γfor on the occasion of.

Yawing direction deflection angle size and direction are determined:

First Calculation Plane P _l3and plane P _m3the angle of normal vector.Then plane P is got _l3and plane P _m3normal vector respectively with P _l2the normal vector of plane asks included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, is defined as multibeam echosounder relative to laser scanner yawing angular deviation for negative value.Otherwise, if be greater than cosine value required by laser scanner, illustrate that multibeam echosounder is relative to laser scanner yawing angle for on the occasion of.

Pitching direction deflection angle size and direction are determined:

First Calculation Plane P _l3and plane P _m3the angle of normal vector.Then plane P is got _m4normal vector and plane P _l4normal vector respectively with P _l1normal vector asks included angle cosine value, if the cosine value required by multibeam echosounder is less than cosine value required by laser scanner, illustrates that multibeam echosounder plane is relative to laser scanner plane pitching deflection angle δ _θfor on the occasion of.Otherwise, if value is greater than cosine value required by laser scanner, illustrate that multibeam echosounder plane is relative to laser scanner plane pitching deflection angle δ _θfor negative value.

Step 3.3: three orientation angle deflection corrections of acquisition be respectively multibeam echosounder coordinate system relative to the rolling under inertial navigation system coordinate system, the angular deflection correction of pitching and yawing, unit is radian.When considering little angle, the approximate rotation matrix for angle modification amount is

Utilize above rotation matrix to revise multi-beam raw data, by measurement data again reduction under ECEF coordinate system, Reducing Caculus is:

$\left[\begin{array}{c}{X}_e\\ Y_e\\ Z_e\end{array}\right]={\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{oe}+R_l^e\&CenterDot;R_b^l\&CenterDot;\&lsqb;(I+{\mathrm{\&Omega;}}_{b*}^b)\&CenterDot;R_m^{b*}\&CenterDot;{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_m+{\left[\begin{array}{c}{l}_x\\ l_y\\ l_z\end{array}\right]}_b+{\left[\begin{array}{c}{\mathrm{\&Delta;l}}_x\\ {\mathrm{\&Delta;l}}_y\\ {\mathrm{\&Delta;l}}_z\end{array}\right]}_b\&rsqb;$

Wherein: [X _ey _ez _e] be coordinate under ECEF coordinate system; [XYZ] _oefor inertial navigation system center coordinate under ECEF coordinate system; for local horizontal coordinates is to the rotation matrix of ECEF coordinate system, local horizontal coordinate is that when measuring, position, inertial navigation system center is the local horizontal coordinates that initial point is set up herein; for inertial navigation system coordinate system is to the rotation matrix of local horizontal coordinates, local horizontal coordinate is that when measuring, position, inertial navigation system center is the local horizontal coordinates that initial point is set up herein; for slightly demarcating the initial rotation vector of rear multibeam echosounder coordinate system relative to inertial navigation system coordinate system; what obtain for calibration demarcates the correction matrix of rear multibeam echosounder coordinate system relative to the angular deflection of inertial navigation system coordinate system to thick, and I is unit battle array; [XYZ] _mfor the measurement point coordinate under multibeam echosounder coordinate system; [l _xl _yl _z] _bfor slightly demarcating the initial offset at relative inertness navigational system center, rear multibeam echosounder coordinate system center; [Δ l _xΔ l _yΔ l _z] _bfor multibeam echosounder coordinate system center is relative to the correction of inertial navigation system coordinate system center offset, current correction of not carrying out side-play amount calculates, and therefore current procedures can be set to zero.

Again coordinate under converted measurement point to the ENU coordinate system set up for initial point with buildings central point, solve the correction of multibeam echosounder coordinate system relative to the rolling of inertial navigation system coordinate system, pitching and yawing three orientation angles deflections, correct in previous angular deflection correction, this process of iteration is until finishing iteration when the normal vector of multi-beam measurement plane and the normal vector angle of laser scanner measurement plane are less than certain threshold values, and this threshold values is determined by actual conditions.The multibeam echosounder coordinate system that whole iterative process obtains is final angle calibration result relative to the correction of the rolling of inertial navigation system coordinate system, pitching and yawing three direction rotation amounts.

Step 4: complete on above step basis, be as the criterion with the data of laser scanner measurement, according to focus target wall and both sides gore known dimensions, obtain data that multibeam echosounder the measures side-play amount of data in the X-axis of ENU coordinate system, Y-axis, Z axis three directions relative to laser scanner measurement, this side-play amount is the modified value of multibeam echosounder coordinate system relative to inertial navigation system coordinate system side-play amount;

In step 4, specifically comprise

Step 4.1: after above calibration angle modification is carried out to multi-beam measurement data.To target's center's planar interception water surface upper and lower two parts measurement point data, choose measurement point in two planes respectively at the coordinate figure of E (east) direction i.e. X-direction and average, now multi-beam is the difference that upper and lower 2 plane surveying points get X mean value relative to the X side-play amount of inertial navigation system.

, also there are upper and lower two surface levels perpendicular to central wall plane in step 4.2: what the gore of target's center's wall both sides can detect a have vertical plane angled with central wall plane.Laser scanner and multi-beam can measure surface level that is waterborne and gore under water respectively; Choose the plane surveying data of suitable two gores under water waterborne of the data volume that measures, the distance true value of two gore level differences under water waterborne as Z-direction can be obtained according to design size, then solve the mean value of Z coordinate figure in two level measurement data under water waterborne respectively thus obtain the actual range of these two planes in Z-direction, the actual range of two plane surveyings is poor with the distance Truth obtained before, obtain multi-beam relative to the offset correction of inertial navigation system in Z-direction.

Step 4.3: get laser scanner data matching P _l1plane and multi-beam Bathymetric Data matching P _m1plane, two straight lines in XOY plane are obtained after they being projected to bottom surface, utilize be parallel to Y-axis straight line respectively with laser scanner data at bottom surface projection straight line and multi-beam Bathymetric Data at bottom surface projection straight line find intersection, two intersection points deviation is in the Y direction that multibeam echosounder coordinate system is relative to inertial navigation system coordinate system deviate in the Y direction.

The present invention proposes a kind of boat-carrying integrated measuring system precise calibration method of carrying out in pond, be integrated with laser scanner and multibeam echosounder, submarine topography and offshore terrain data waterborne can be obtained simultaneously, solve offshore coastal zone and beach topographical surveying problem; The side-play amount that the calibration of laser scanner essence obtains and the anglec of rotation have degree of precision; be as the criterion with the data of laser scanner measurement after smart calibration; ask for multibeam echosounder coordinate system relative to the accurate angular deflection of inertial navigation system coordinate system and ranging offset modified value; achieve the overall close adjustment of boat-carrying underwater integrated measuring system waterborne, integrated measuring is carried out to fixed target calibration thing.

The present invention is mainly applicable to the region that pond or harbour etc. have fixed target calibration thing.

Certainly, above-mentioned explanation is not limitation of the present invention, and the present invention is also not limited in above-mentioned citing, and the change that those skilled in the art make in essential scope of the present invention, remodeling, interpolation or replacement also should belong to protection scope of the present invention.

Claims (3)

1. a boat-carrying integrated measuring system precise calibration method of carrying out in pond, adopt boat-carrying water water front integrated measuring system, its offshore above water comprises laser scanner and inertial navigation system, underwater portion comprises multibeam echosounder, and above water and underwater portion are connected by a platform support; Laser scanner is wherein for measuring offshore terrain data waterborne, multibeam echosounder is for measuring underwater topography data, and inertial navigation system is used for providing locating information, temporal information, attitude information and course information for laser scanner and multibeam echosounder;

It is characterized in that: the described boat-carrying integrated measuring system precise calibration method of carrying out in pond, carry out in accordance with the following steps:

Step 1: build pond, in pond, build focus target wall and build the gore equidistantly distributed successively in the both sides of focus target wall, first gore of the gore that first gore of the gore that the wherein side of focus target wall equidistantly distributes equidistantly distributes lower than opposite side, gore focus target wall and both sides equidistantly distributed is as calibration object; And set up ENU coordinate system;

Step 2: simultaneously carry out information acquisition by laser scanner and multibeam echosounder, obtains waterborne, underwater survey point data for calibration object, extracts the measurement point information of side, pond focus target wall and both sides gore respectively;

Step 3: calculate multibeam echosounder coordinate system relative to the angular deflection correction of inertial navigation system coordinate system in rolling, pitching and yawing direction;

Step 4: completing on above step basis, be as the criterion with the data of laser scanner measurement, according to focus target wall and both sides gore known dimensions, obtains the modified value of multibeam echosounder coordinate system relative to inertial navigation system coordinate system side-play amount.

2. boat-carrying integrated measuring system precise calibration method of carrying out in pond according to claim 1, is characterized in that: in step 3, specifically comprises

Step 3.1: carry out entirety to boat-carrying integrated measuring system and slightly demarcate, obtains laser scanner coordinate system and multibeam echosounder coordinate system relative to the side-play amount of inertial navigation system coordinate system and rotation angle;

Step 3.2: carry out smart calibration to laser scanner, obtains the smart calibration parameter of laser scanner;

Step 3.3: based on the smart calibration parameter of the laser scanner obtained, using the multibeam echosounder coordinate system slightly demarcating acquisition relative to the side-play amount of inertial navigation system coordinate system and rotation angle as initial value, utilize calibration object to keep size consistent with orientation on the water under water, choose the plane that the measurement point data obtained respectively by multibeam echosounder and laser scanner carry out matching;

Step 3.4: be as the criterion with the plane of the measurement point data fitting obtained by laser scanner, compare with the plane of multibeam echosounder measure data fitting;

Step 3.5: under the ENU coordinate system set up in step 1, the plane of the measurement point data fitting that the plane calculating the measurement point data fitting obtained by multibeam echosounder is obtained with respect to laser scanner at the deflection angle in rolling, pitching and yawing direction, and determines the positive negative direction of deflection angle;

Step 3.6: according to the angular deflection amount obtained in step 3.5, again reduction multi-beam measurement data is under geographic coordinate system, and this angular deflection amount of iterative, the final multibeam echosounder coordinate system that obtains is relative to the angular deflection correction of inertial navigation system coordinate system in rolling, pitching and yawing direction.

3. boat-carrying integrated measuring system precise calibration method of carrying out in pond according to claim 1, is characterized in that: in step 4, specifically comprises

Step 4.1: for the focus target wall of calibration object, choose measurement point data in upper and lower two planes of the water surface that obtained by laser scanner and multibeam echosounder respectively, and ask for measurement point data in upper and lower two planes of the water surface respectively at the coordinate figure of the X-direction of ENU coordinate system and average, then the measurement point data in upper and lower two planes of the water surface are multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the X-direction of ENU coordinate system in the difference of the mean value of X-direction;

Step 4.2: for the both sides gore in calibration object, choose measurement point data in upper and lower two surface levels of the water surface that obtained by laser scanner and multibeam echosounder respectively, and ask for measurement point data in upper and lower two planes of the water surface respectively at the coordinate figure of the Z-direction of ENU coordinate system and average, namely obtain the actual distance value of upper and lower two surface levels of the water surface in the Z-direction of ENU coordinate system; Gore waterborne is obtained poor with the level of gore under water according to design size, and using the distance true value of this difference in height as the Z-direction of ENU coordinate system; By poor for the distance Truth of the actual distance value of two plane surveyings and acquisition, namely obtain multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the Z-direction of ENU coordinate system;

Step 4.3: for the both sides gore in calibration object, choose the plane of the data fitting measured by plane and the multibeam echosounder of the data fitting of laser scanner measurement respectively, two straight lines in surface level will be obtained after the plane projection of two matchings to bottom surface, by these two straight lines respectively with the intersection between lines point of Y-axis being parallel to ENU coordinate system, two intersection points are multibeam echosounder coordinate system relative to the modified value of inertial navigation system coordinate system in the side-play amount of the Y direction of ENU coordinate system in the deviation of the Y direction of ENU coordinate system;

Step 4.4: the data measured of the multibeam echosounder of acquisition are the modified value of multibeam echosounder coordinate system relative to inertial navigation system coordinate system side-play amount relative to the data of laser scanner measurement in the side-play amount in the X-axis of ENU coordinate system, Y-axis, Z axis three directions.